CN104316949A - Method for quickly locating search target of unmanned aerial vehicle - Google Patents
Method for quickly locating search target of unmanned aerial vehicle Download PDFInfo
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- CN104316949A CN104316949A CN201410590112.7A CN201410590112A CN104316949A CN 104316949 A CN104316949 A CN 104316949A CN 201410590112 A CN201410590112 A CN 201410590112A CN 104316949 A CN104316949 A CN 104316949A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a method for quickly locating a search target of an unmanned aerial vehicle. According to the method, the search unmanned aerial vehicle is used for searching for the target in an open field, a wireless system of the unmanned aerial vehicle is used for transmitting a visual image for conducting target locking, a specific navigation track is matched with multipoint viewpoint switching of the unmanned aerial vehicle and the attitude information, the height information and the GPS positioning information of the unmanned aerial vehicle to conduct multipoint positioning iterative calculation, and accordingly the specific positioning information of the target in the open field can be acquired quickly. The search positioning method can be widely applied to target positioning for target searching of the unmanned aerial vehicle.
Description
Technical field
The present invention relates to robot searches field, particularly relates to a kind of unmanned plane search target method for rapidly positioning.
Background technology
Along with the popularization of unmanned plane application, wilderness target search progressively becomes a kind of application focus.
In the target search of wilderness, the rapidity of target localization and accuracy are the important deliberated indexs of target search location.
At present in the unmanned plane search location of prior art, some adopts unit search location, but attitude sensor/sensor, GPS positioning system etc. exist error, make the result that unit positioning precision is not high.
Some occasion adopts the search of multimachine, two-shipper, there is the shortcomings such as cost is high, the wasting of resources.
Adopt in vision position fixing process in multimachine search, view data is plane two bits and cannot effectively establishes accurate visual angle, accurately locates bring difficulty for target.
Summary of the invention
The object of the invention is to solve prior art Problems existing, provide a kind of unmanned plane unit to search for the method for rapidly positioning of target, realize cost low, calculate simply, fast fast, precision is high.
For solving the problems of the technologies described above, design of the present invention is: the present invention adopts a frame UAS to carry out search location, adopt vertical, the translation after target lock-on, the multiple spot specific action view angle switch flown nonstop to and coordinate setting, unmanned plane inertial navigation information, GPS information, elevation information and the Viewing-angle information be engaged in same view angle lock onto target situation carries out data fusion iteration location Calculation, the locating information of final accurate Calculation wilderness target fast.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of unmanned plane search target method for rapidly positioning, it is characterized in that: adopt a frame search unmanned plane search wilderness target information, by radioing to described reception base station, carrying out target localization iterative computation by reception base station, accurately obtaining targeting information fast.
Above-mentioned search unmanned plane comprises a unmanned plane during flying mechanism, an inertial navigation sensor-based system, a high-definition camera, a height sensor, a GPS positioning system, a central controller and a wireless telecommunication system, described central controller respectively with described inertial navigation sensor-based system, high-definition camera, height sensor, GPS positioning system, central controller is connected with wireless telecommunication system, and be arranged on described unmanned plane during flying mechanism together, described high-definition camera is fixed on described unmanned plane during flying mechanism, centre visual angle is measured in advance and is determined.
Above-mentioned reception base station is mainly used in receiving the inertial navigation information of described search unmanned plane, elevation information, GPS locating information and Viewing-angle information, control unmanned plane completes the specific flight path of multiple spot and cruises and locate, calculate according to multiple spot information iteration, determine the coordinate of fast search target.
Above-mentioned multiple spot information iteration computing method are that unmanned plane is vertical by obtaining after described unmanned plane lock onto target, translation and the multiple spot specific action view angle switch flown nonstop to and coordinate setting, under completing same view angle lock onto target situation, residing inertial navigation information, elevation information, GPS locating information and Viewing-angle information positions iteration triangulation calculation, obtains the concrete locating information of wilderness target.
The present invention compared with prior art, there is following apparent outstanding substantive distinguishing features and marked improvement: the present invention adopts unit vision location fit inertial navigation information, elevation information, GPS locating information, by specific action view angle switch and coordinate setting, iteration triangulation calculation is adopted to obtain the concrete locating information of wilderness target.
Target search localization method of the present invention can be widely used in unmanned plane target search location.
Accompanying drawing explanation
Accompanying drawing 1 is the block diagram of one embodiment of the invention.
Accompanying drawing 2 is the structural representations searching for unmanned plane in Fig. 1 example.
Accompanying drawing 3 is iteration triangulation calculation algorithm schematic diagram of the present invention.
Embodiment
Details are as follows by reference to the accompanying drawings for the preferred embodiments of the present invention:
Embodiment one:
As shown in Figure 1, at this unmanned plane search target method for rapidly positioning: adopt two frame search unmanned plane (1) search wilderness target informations, receiving base station (2) by radioing to, carrying out target localization iterative computation by reception base station (2), accurately obtaining targeting information fast.
Embodiment two:
The present embodiment is substantially identical with embodiment one, and special feature is as follows:
See Fig. 2, described search unmanned plane (1) comprises a unmanned plane during flying mechanism (101), an inertial navigation sensor-based system (102), a high-definition camera (103), a height sensor (104), a GPS positioning system (105), a central controller (106) and a wireless telecommunication system (107), described central controller (106) respectively with described inertial navigation sensor-based system (102), high-definition camera (103), height sensor (104), GPS positioning system (105), central controller (106) is connected with wireless telecommunication system (107), and be arranged on described unmanned plane during flying mechanism (101) together, described high-definition camera (103) is fixed on described unmanned plane during flying mechanism (101), centre visual angle is measured in advance and is determined.
See Fig. 3, the concrete operation step of described multiple spot information iteration computing method is as follows:
1. being located at target in three-dimensional coordinate figure is T point, and unmanned plane starting point is A;
2. by inertial navigation information, the GPS locating information that correction calculation goes out each point residing for unmanned plane is carried out to GPS locating information;
3. in target lock-on situation, record object locking visual angle point, after unmanned plane lock onto target, corresponding visual angle is ∠ A ＇ AT, wherein A ＇ is the location point after described unmanned plane lock onto target, obtain in the angle process of visual angle and revised by attitude angle information, to ensure that the reference coordinate locking visual angle is for Three Dimensional Ground coordinate system, and without attitude angle deviation.The gps coordinate of record A and height, obtain A(xa, ya, ha), wherein xa, ya, ha are the D coordinates value of A point;
4. keep navigation angle beta after unmanned plane deflection certain angle, keep the identical height level of A to move l apart from rear to B1 point, the gps coordinate of record B1 and height, obtain B1 point three-dimensional coordinate (xb, yb, ha);
5. unmanned plane arrives B point at the vertical decline h1 of B1 point, makes the corresponding point of target in unmanned plane image identical, i.e. visual angle identical (∠ A ＇ AT=∠ B ＇ BT), record B point coordinate (xb, yb, ha-h1);
6. keep navigation angle beta, after keeping the identical height level of B to move l distance arrival C1, vertical decline h2 arrives C point, makes the corresponding point of target in unmanned plane image identical, i.e. visual angle identical (∠ A ＇ AT=∠ B ＇ BT=∠ C ＇ CT), record C point coordinate (xc, yc, ha-h1-h2);
7. according to gps coordinate and the height of having determined A, B, C, A1, B1 and C1 in three-dimensional coordinate figure, the trigonometric coordinates similar with triangle by triangle projection calculates, can when need not know objectives locking visual angle ∠ A ＇ AT, ∠ B ＇ BT, ∠ C ＇ CT accurate size, just accurately can obtain the GPS elements of a fix of target T;
8. be specifically calculated as follows:
I) according to triangle projection, can obtain:
|A＇B＇|=|AB1|=l （1）
| B＇C＇|=|BC1|=l （2）
Ii) according to ∠ A ＇ AT=∠ B ＇ BT=∠ C ＇ CT, San Jiao Xing ⊿ A ＇ AT is similar to ⊿ B ＇ BT triangle at Zhi angle, and San Jiao Xing ⊿ C ＇ CT is similar to ⊿ B ＇ BT triangle at Zhi angle.
Iii) according to Similar Principle of Triangle, can obtain:
（3）
（4）
Iv), in △ A ＇ C ＇ T and △ A ＇ B ＇ T, can obtain according to the cosine law
（5）
In △ B ＇ C ＇ T, if ∠ C ＇ B ＇ T is
,
（6）
V) because l, ha, h1, h2 are known, formula (1), (2), (3) and (4) substitute into formula (5), (6), namely can obtain | A ＇ T|, | B ＇ T| and | C ＇ T| and angle beta,
.
Vi) analyze in xoy plane, in △ A ＇ B ＇ T, according to an A ＇ (xa, ya), B ＇ (xb, yb), and angle beta,
:
If straight line A ＇ C ＇ is ka at the slope of xoy plane, then
，
If the slope of straight line T A ＇ is k1, then
In △ B ＇ C ＇ T, straight line B ＇ C ＇ is also ka at the slope of xoy plane, if the slope of straight line T B ＇ is k2, then:
，
The equation that can obtain straight line T A ＇ is:
(7)
The equation of straight line T B ＇ is:
(8)
The intersection point of straight line T A ＇ and straight line T B ＇ is T point coordinate (xt, yt): comprehensive (7), (8):
So far, the accurate coordinates of target T is determined.
Above by embodiment to invention has been detailed description, but these are not construed as limiting the invention.Without departing from the principles of the present invention, those skilled in the art also can make many distortion and improvement, and these also should be considered as protection scope of the present invention.
Claims (4)
1. a unmanned plane search target method for rapidly positioning, it is characterized in that: adopt frame search unmanned plane (1) search wilderness target information, receiving base station (2) by radioing to, carrying out target localization iterative computation by reception base station (2), accurately obtaining targeting information fast.
2. unmanned plane search target method for rapidly positioning according to claim 1, it is characterized in that: described search unmanned plane (1) comprises a unmanned plane during flying mechanism (101), an inertial navigation sensor-based system (102), a high-definition camera (103), a height sensor (104), a GPS positioning system (105), a central controller (106) and a wireless telecommunication system (107), described central controller (106) respectively with described inertial navigation sensor-based system (102), high-definition camera (103), height sensor (104), GPS positioning system (105), central controller (106) is connected with wireless telecommunication system (107), and be arranged on described unmanned plane during flying mechanism (101) together, described high-definition camera (103) is fixed on described unmanned plane during flying mechanism (101), centre visual angle is measured in advance and is determined.
3. unmanned plane search target method for rapidly positioning according to claim 1, it is characterized in that: described reception base station (2) is mainly used in receiving the inertial navigation information of described search unmanned plane (1), elevation information, GPS locating information and Viewing-angle information, control unmanned plane completes the specific flight path of multiple spot and cruises and locate, calculate according to multiple spot information iteration, determine the coordinate of fast search target.
4. unmanned plane search target method for rapidly positioning according to claim 3, is characterized in that: the concrete operation step of described multiple spot information iteration computing method is as follows:
1. being located at target in three-dimensional coordinate figure is T point, and unmanned plane starting point is A;
2. by inertial navigation information, the GPS locating information that correction calculation goes out each point residing for unmanned plane is carried out to GPS locating information;
3. in target lock-on situation, record object locking visual angle point, after unmanned plane lock onto target, corresponding visual angle is ∠ A ＇ AT, wherein A ＇ is the location point after described unmanned plane lock onto target, obtain in the angle process of visual angle and revised by attitude angle information, to ensure that the reference coordinate locking visual angle is for Three Dimensional Ground coordinate system, and without attitude angle deviation; The gps coordinate of record A and height, obtain A(xa, ya, ha), wherein xa, ya, ha are the D coordinates value of A point;
4. keep navigation angle beta after unmanned plane deflection certain angle, keep the identical height level of A point to move l apart from rear to B1 point, the gps coordinate of record B1 and height, obtain B1 point three-dimensional coordinate (xb, yb, ha);
5. unmanned plane arrives B point at the vertical decline h1 of B1 point, makes the corresponding point of target in unmanned plane image identical, i.e. visual angle identical (∠ A ＇ AT=∠ B ＇ BT), record B point coordinate (xb, yb, ha-h1);
6. unmanned plane keeps navigation angle beta, after keeping the identical height level of B point to move l distance arrival C1, vertical decline h2 arrives C point, make the corresponding point of target in unmanned plane image identical, i.e. visual angle identical (∠ A ＇ AT=∠ B ＇ BT=∠ C ＇ CT), record C point coordinate (xc, yc, ha-h1-h2);
7. according to gps coordinate and the height of having determined A, B, C, A1, B1 and C1 in three-dimensional coordinate figure, the trigonometric coordinates similar with triangle by triangle projection calculates, when can lock visual angle ∠ A ＇ AT, ∠ B ＇ BT, ∠ C ＇ CT when knowing objectives and deflect the accurate size of navigation angle beta, just accurately can obtain the GPS elements of a fix of target T;
8. be specifically calculated as follows:
I) according to triangle projection, can obtain:
|A＇B＇|=|AB1|=l （1）
| B＇C＇|=|BC1|=l （2）
Ii) according to ∠ A ＇ AT=∠ B ＇ BT=∠ C ＇ CT, San Jiao Xing ⊿ A ＇ AT is similar to ⊿ B ＇ BT triangle at Zhi angle, and San Jiao Xing ⊿ C ＇ CT is similar to ⊿ B ＇ BT triangle at Zhi angle;
Iii) according to Similar Principle of Triangle, can obtain:
（3）
（4）
Iv), in △ A ＇ C ＇ T and △ A ＇ B ＇ T, can obtain according to the cosine law
（5）
In △ B ＇ C ＇ T, if ∠ C ＇ B ＇ T is
,
（6）
V) because l, ha, h1, h2 are known, formula (1), (2), (3) and (4) substitute into formula (5), (6), namely can obtain | A ＇ T|, | B ＇ T| and | C ＇ T| and angle beta,
;
Vi) analyze in xoy plane, in △ A ＇ B ＇ T, according to an A ＇ (xa, ya), B ＇ (xb, yb), and angle beta,
:
If straight line A ＇ C ＇ is ka at the slope of xoy plane, then
，
If the slope of straight line T A ＇ is k1, then
In △ B ＇ C ＇ T, straight line B ＇ C ＇ is also ka at the slope of xoy plane, if the slope of straight line T B ＇ is k2, then:
，
The equation that can obtain straight line T A ＇ is:
(7)
The equation of straight line T B ＇ is:
(8)
The intersection point of straight line T A ＇ and straight line T B ＇ is T point coordinate (xt, yt): comprehensive (7), (8):
So far, the accurate coordinates of target T is determined.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106094876A (en) * | 2016-07-04 | 2016-11-09 | 苏州光之翼智能科技有限公司 | A kind of unmanned plane target locking system and method thereof |
| CN107192377A (en) * | 2017-06-16 | 2017-09-22 | 深圳市可飞科技有限公司 | Method, device and the aircraft of long-range measurement object coordinates |
| CN107328387A (en) * | 2017-07-04 | 2017-11-07 | 成都康烨科技有限公司 | Angle measuring method, device and video camera |
| CN107783555A (en) * | 2016-08-29 | 2018-03-09 | 杭州海康机器人技术有限公司 | A kind of object localization method based on unmanned plane, apparatus and system |
| CN108955722A (en) * | 2018-05-22 | 2018-12-07 | 北京和协导航科技有限公司 | Unmanned plane target position indicator system and indicating means |
| CN109344970A (en) * | 2018-11-27 | 2019-02-15 | 中国电子科技集团公司第二十研究所 | View-based access control model target trend inference method on a kind of unmanned plane |
| WO2019056981A1 (en) * | 2017-09-21 | 2019-03-28 | 索尼公司 | Device, method, and computer readable storage medium in wireless communication system |
| CN109819500A (en) * | 2017-11-21 | 2019-05-28 | 中国移动通信有限公司研究院 | Cell selecting method, terminal, base station and communication apparatus |
| CN110864630A (en) * | 2019-11-11 | 2020-03-06 | 深圳供电局有限公司 | Power transmission line jumper distance measuring method and system based on unmanned aerial vehicle |
| WO2020062178A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Map-based method for identifying target object, and control terminal |
| CN111366148A (en) * | 2020-03-27 | 2020-07-03 | 西安应用光学研究所 | Target positioning method suitable for multiple observations of airborne photoelectric observing and sighting system |
| CN111879313A (en) * | 2020-07-31 | 2020-11-03 | 中国人民解放军国防科技大学 | Multi-target continuous positioning method and system based on unmanned aerial vehicle image recognition |
| TWI746234B (en) * | 2020-10-29 | 2021-11-11 | 仲碩科技股份有限公司 | Method for distance measurement and positioning of unmanned helicopter to sea surface target |
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| CN106094876A (en) * | 2016-07-04 | 2016-11-09 | 苏州光之翼智能科技有限公司 | A kind of unmanned plane target locking system and method thereof |
| CN107783555B (en) * | 2016-08-29 | 2021-05-14 | 杭州海康机器人技术有限公司 | Target positioning method, device and system based on unmanned aerial vehicle |
| CN107783555A (en) * | 2016-08-29 | 2018-03-09 | 杭州海康机器人技术有限公司 | A kind of object localization method based on unmanned plane, apparatus and system |
| CN107192377A (en) * | 2017-06-16 | 2017-09-22 | 深圳市可飞科技有限公司 | Method, device and the aircraft of long-range measurement object coordinates |
| CN107328387A (en) * | 2017-07-04 | 2017-11-07 | 成都康烨科技有限公司 | Angle measuring method, device and video camera |
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| CN109819500A (en) * | 2017-11-21 | 2019-05-28 | 中国移动通信有限公司研究院 | Cell selecting method, terminal, base station and communication apparatus |
| CN109819500B (en) * | 2017-11-21 | 2021-08-06 | 中国移动通信有限公司研究院 | Cell selection method, terminal, base station and communication equipment |
| CN108955722A (en) * | 2018-05-22 | 2018-12-07 | 北京和协导航科技有限公司 | Unmanned plane target position indicator system and indicating means |
| WO2020062178A1 (en) * | 2018-09-29 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Map-based method for identifying target object, and control terminal |
| CN109344970A (en) * | 2018-11-27 | 2019-02-15 | 中国电子科技集团公司第二十研究所 | View-based access control model target trend inference method on a kind of unmanned plane |
| CN109344970B (en) * | 2018-11-27 | 2022-03-15 | 中国电子科技集团公司第二十研究所 | Vision target-based dynamic reasoning method on unmanned aerial vehicle |
| CN110864630B (en) * | 2019-11-11 | 2021-07-06 | 深圳供电局有限公司 | Power transmission line jumper distance measuring method and system based on unmanned aerial vehicle |
| CN110864630A (en) * | 2019-11-11 | 2020-03-06 | 深圳供电局有限公司 | Power transmission line jumper distance measuring method and system based on unmanned aerial vehicle |
| CN111366148A (en) * | 2020-03-27 | 2020-07-03 | 西安应用光学研究所 | Target positioning method suitable for multiple observations of airborne photoelectric observing and sighting system |
| CN111366148B (en) * | 2020-03-27 | 2022-11-22 | 西安应用光学研究所 | Target positioning method suitable for multiple observations of airborne photoelectric observing and sighting system |
| CN111879313A (en) * | 2020-07-31 | 2020-11-03 | 中国人民解放军国防科技大学 | Multi-target continuous positioning method and system based on unmanned aerial vehicle image recognition |
| TWI746234B (en) * | 2020-10-29 | 2021-11-11 | 仲碩科技股份有限公司 | Method for distance measurement and positioning of unmanned helicopter to sea surface target |
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